Robust impedance-matching of manipulators interacting with unknown environments
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United States of America Patent
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Mar 30, 2010
Grant Date -
Mar 29, 2007
app pub date -
Sep 28, 2005
filing date -
Sep 28, 2005
priority date (Note) -
Expired
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Abstract
A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.
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